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Globally Consistent Indoor Mapping via a Decoupling Rotation and Translation Algorithm Applied to RGB-D Camera Output

Institute of Remote Sensing and Digital Earth (RADI), Chinese Academy of Sciences, Datun Road, Chaoyang District, Beijing 100101, China
College of Resources and Environment, University of Chinese Academy of Sciences, Yuquan Road, Shijingshan District, Beijing 100049, China
Centre for Autonomous Systems, University of Technology, Sydney, P.O. Box 123, Broadway, Ultimo, NSW 2007, Australia
Author to whom correspondence should be addressed.
ISPRS Int. J. Geo-Inf. 2017, 6(11), 323;
Received: 7 August 2017 / Revised: 16 October 2017 / Accepted: 24 October 2017 / Published: 27 October 2017
PDF [53961 KB, uploaded 27 October 2017]


This paper presents a novel RGB-D 3D reconstruction algorithm for the indoor environment. The method can produce globally-consistent 3D maps for potential GIS applications. As the consumer RGB-D camera provides a noisy depth image, the proposed algorithm decouples the rotation and translation for a more robust camera pose estimation, which makes full use of the information, but also prevents inaccuracies caused by noisy depth measurements. The uncertainty in the image depth is not only related to the camera device, but also the environment; hence, a novel uncertainty model for depth measurements was developed using Gaussian mixture applied to multi-windows. The plane features in the indoor environment contain valuable information about the global structure, which can guide the convergence of camera pose solutions, and plane and feature point constraints are incorporated in the proposed optimization framework. The proposed method was validated using publicly-available RGB-D benchmarks and obtained good quality trajectory and 3D models, which are difficult for traditional 3D reconstruction algorithms. View Full-Text
Keywords: RGB-D; 3D map; indoor mapping; SLAM; 3D reconstruction RGB-D; 3D map; indoor mapping; SLAM; 3D reconstruction

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Liu, Y.; Wang, J.; Song, J.; Song, Z. Globally Consistent Indoor Mapping via a Decoupling Rotation and Translation Algorithm Applied to RGB-D Camera Output. ISPRS Int. J. Geo-Inf. 2017, 6, 323.

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